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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
P.C:
310009
E-mail:
meem_contribute@163.com
Abstract: The utilization of cable-driven parallel robots employing flexible cables instead of traditional rigid links for controlling the end-effector has found extensive applications in various fields such as place and pick, rehabilitation. Firstly, the screw theory was utilized to establish the motion/force transmission relationship between the actuator inputs and motion outputs of the cable-driven parallel robot, and the local motion/force transmission performance was determined. Secondly, the global motion/force transmission performance within a given workspace was evaluated. Then, by employing the optimal design space to conduct dimensional synthesis, the atlas of performance of cable-driven parallel robots were obtained. Based on the atlas of performance of cable-driven parallel robots, the dimensional parameters of the robots were optimized. Finally, a prototype of a planar 3-DOF cable-driven parallel mechanism was used to conduct kinematic reachable workspace verification experiments with optimized dimensional parameters. The experimental results show that, after optimization using the proposed dimensional synthesis method, the workspace of the mechanism allows the orientation angles |θ|≤60° accounting for 95.1% of the total workspace, it is an increase of 29.4% compared to the kinematic reachable workspace before optimization; the workspace of the mechanism that allows the orientation angles |θ|≤80° accounting for 67.3% of the total workspace, it is an increase of 81.3% compared to the kinematic reachable workspace before optimization; the workspace of the mechanism that allows the orientation angles |θ|=80° accounting for 14.5% of the total workspace, it is an increase of 172% compared to the kinematic reachable workspace before optimization. Therefore, optimizing the motion/force transmission performance enables cabledriven parallel robots to avoid singular configurations within the workspace and the unilateral force transmission property of the cables is considered. This optimized performance can be a reference for dimensional synthesis in the design of cabledriven parallel robots.
Key words: parallel mechanism; cable-driven parallel robots; performance evaluation index; dimensional synthesis problem; motion/force transmission performance index; kinematically accessible workspace; permissible mechanism attitude angle
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- Chinese Core Periodicals
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- Chinese Sci-tech Core Periodicals
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- SA, INSPEC Indexed
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- CSA: T Indexed
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- UPD:Indexed
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2010 Zhejiang Information Institute of Mechinery Industry
Technical Support：Hangzhou Bory science and technology
